How to emulate a MoveJ, or MoveL movement using ROS ?
Hi all,
I am currently using a UR5 in simulation and would like to know if there is a way to emulate the way that the UR5 moves from one joint target to another joint target. The movement/trajectory I want to emulate is the same as the one that is provided by a MoveJ command. Basically, I believe it is simply a linear interpolation from one joint target to another for each joint with parabolic blends at the beginning and at the end of the motion (for smooth acceleration/deceleration). I don't need collision detection.
I could use roscontrol and simply send the joint target, but I believe it isn't going to result in the same motion/trajectory as a MoveJ command would. I believe its only some type of PID controller that increases the output based on the distance to target, which is not what I want.
It tried using the planner from MoveIt, but it results in a crazy trajectory that's generated between the initial robot configuration to the end configuration, sometimes spinning three times around its base. I also find MoveIt extremely tedious to use and not intuitive, but that might just be because I haven't use it enough yet. So far I am not a fan of it.
Does somebody know a simple way to achieve what I am trying to do? Are there any existing packages that I could leverage to do this task?
Thanks!
Observation: "the ROS stack" is a bit meaningless. You mention a few packages, but they are not really part of any particular stack.
Removed the term stack. I don't mind changing the title of the question if you have a recommendation.